Inverse Kinematic Analysis of General 5R Serial Robot Based on Linear Transformation
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Abstract Based on the linear transformation theory, a general method for inverse kinematic analysis of 5R serial robots is proposed in this paper. Using this method, a polynomial equation, which contains only one variable and no extraneous roots, can be derived from 3 original kinematic equations, whereas the traditional method needs 4 equations. The assembly condition of 5R manipulator (5R loop) and its application in kinematic analysis are discussed. This assembly condition is very useful for finding 6R manipulator’s real configuration.
2001 ◽
Vol 37
(05)
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pp. 22
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2015 ◽
Vol 24
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pp. 77-81
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2007 ◽
Vol 43
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pp. 12
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2019 ◽
Vol 3
(1)
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pp. 81-87
2010 ◽
Vol 4
(4)
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pp. 364-371
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